CN107264808A - The vehicles - Google Patents
The vehicles Download PDFInfo
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- CN107264808A CN107264808A CN201710176310.2A CN201710176310A CN107264808A CN 107264808 A CN107264808 A CN 107264808A CN 201710176310 A CN201710176310 A CN 201710176310A CN 107264808 A CN107264808 A CN 107264808A
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- CN
- China
- Prior art keywords
- clean robot
- interior
- interior room
- clean
- cleaning
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/30—Cleaning aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D11/00—Passenger or crew accommodation; Flight-deck installations not otherwise provided for
- B64D11/02—Toilet fittings
Abstract
A kind of vehicles include the interior indoor autonomous cleaning systems in interior compartment and internally positioned cabin.Autonomous cleaning systems include the clean robot for being configured to clean a part for interior room.
Description
Related application
Entitled " the Systems and Methods for Cleaning that background example can be submitted on March 31st, 2016
Interior Portions of a Vehicle (the interior section system and method for being used for clean traffic the instrument) " U.S. faces
When patent application No.62/315,994 in find.
Technical field
Embodiment of the disclosure is related generally to
System and method.
Background technology
Commercial aircraft is used to transport passenger between the different positions.In flight (particularly transoceanic or other long-range flights) phase
Between passenger be generally limited in some regions (for example, cabin) of aircraft.Various people (such as passenger, pilot, crews
Deng) during flying use aircraft some interior sections.For example, many people can use washing in interior compartment during flying
Chamber wash.
As it would be appreciated, with using every time, the cleannes of the washroom on aircraft can be damaged.People Ke Yi on aircraft
Experience the health risk that the washroom commonly used on aircraft is presented.In fact, when everyone uses the washroom on aircraft, its
In germ and bacterium possibility increase.
Generally, aircraft washroom is cleaned between flight.For example, maintenance or cleanup crew are before or after flight
Aboard is to clean washroom on the spot.But, during flying, despite the fact that many people can use washing during flying
Room, but generally unclean washroom.Although crew can clean washroom, they generally undertake it during flying
His responsibility.Therefore, during flying or even between flight, cleaning washroom is not the top priority of crew.
Therefore, the cleaning of the washroom on aircraft can be damaged, particularly during flying.In general, during flying,
Washroom on aircraft can due to during flying by the people on aircraft use and it is dirty, moist, have stink etc..Therefore, aircraft
On the flight experience of people can become negatively affected.
The content of the invention
The need for a kind of system and method for the inner space for cleaning aircraft.It is effective in the presence of being used for one kind
The need for the system and method for washroom (particularly during flying) on ground and efficiently cleaning aircraft.
In view of these needs, some embodiments of the disclosure provide a kind of vehicles, such as a kind of aircraft, its bag
Include the interior indoor autonomous cleaning systems in interior compartment and internally positioned cabin.Autonomous cleaning systems include being configured to clearly
The clean robot of a part for clean interior room.In at least one embodiment, interior room is washroom, or is otherwise included
Washroom.
Autonomous cleaning systems may also include positioned at interior indoor Docking station (docking station, docking station).Cleaner
Device people is configured to be contained in Docking station.Clean robot is configured to dispose from Docking station during cleaning cycle.Docking
Station may include charger, and the charger is configured to the battery to clean robot when clean robot is contained in Docking station
Charged.
There is the presence that sensor can be configured to detect interior indoor people.In at least one embodiment, cleaning machine
People is disposed to clean the part of interior room when interior room is unoccupied.
Clean robot may include：Debris collector, is configured to collect chip from interior room during cleaning cycle；Agitation
Device, is configured to stir the part of interior room during cleaning cycle；Distributor, is in fluid communication with fluid reservoir and (wherein, divides
Orchestration is configured to distribute a fluid to during cleaning cycle on the part of interior room)；And/or uviol lamp, it is configured to
The part of ultraviolet light interior room is used during cleaning cycle.In at least one embodiment, clean robot is store including fluid
Storage.
Clean robot may include transport subsystem and navigation subsystem.Transport subsystem is configured to be based on from navigation
The signal that system is received is in interior indoor moving clean robot.
Some embodiments of the disclosure provide a kind of method of the interior room for the interior compartment for cleaning aircraft.This method includes
Autonomous cleaning systems are positioned to the interior interior of interior compartment, clean robot is deployed in interior interior during cleaning cycle,
And a part for interior room is cleaned with clean robot during cleaning cycle.
This method may include before cleaning cycle and clean robot be contained in Docking station after cleaning cycle.Should
Method may additionally include in Docking station to charge to the battery of clean robot.
This method may include the presence for detecting the people in interior room.Deployment and clean operation can be sent out when interior room is unoccupied
It is raw.
Clean operation may include during cleaning cycle from interior room collection chip, and being somebody's turn to do for interior room is stirred during cleaning cycle
Part, is distributed a fluid to during cleaning cycle on the part of interior room, and/or uses during cleaning cycle ultra violet lamp
The part of interior room.
This method may also include based on the signal received from navigation subsystem in interior indoor moving clean robot.
Brief description of the drawings
Fig. 1 shows the perspective top view of aircraft in accordance with an embodiment of the present disclosure.
Fig. 2A shows the top plan view of the interior compartment of aircraft in accordance with an embodiment of the present disclosure.
Fig. 2 B show the top plan view of the interior compartment of aircraft in accordance with an embodiment of the present disclosure.
Fig. 3 shows the schematic diagram of interior indoor autonomous cleaning systems in accordance with an embodiment of the present disclosure.
Fig. 4 shows the perspective inside view of interior indoor autonomous cleaning systems in accordance with an embodiment of the present disclosure.
Fig. 5 shows the perspective inside view of interior indoor autonomous cleaning systems in accordance with an embodiment of the present disclosure.
Fig. 6 shows the flow chart of the method for cleaning interior room in accordance with an embodiment of the present disclosure.
Fig. 7 shows the perspective top interior view of washroom in accordance with an embodiment of the present disclosure.
Fig. 8 shows far-ultraviolet spectrum.
Fig. 9 shows the schematic interior view of washroom in accordance with an embodiment of the present disclosure.
Figure 10 shows the front view of the positioning indicator during cleaning cycle in accordance with an embodiment of the present disclosure.
Figure 11 shows the perspective inside view of interior indoor autonomous cleaning systems in accordance with an embodiment of the present disclosure.
Figure 12 shows the schematic diagram of the autonomous cleaning systems for being couple to vacuum system in accordance with an embodiment of the present disclosure.
Embodiment
When read in conjunction with the accompanying drawings, it is better understood with retouching in detailed below for foregoing summary and some embodiments
State.As used herein, state in the singular and above have word " one (a) " or the element or step of " one (an) "
It is rapid to be appreciated that the plural number for not necessarily excluding element or step.In addition, the reference to " one embodiment " is not intended to
It is interpreted to exclude the presence for the additional embodiment for being also incorporated into the feature.In addition, unless explicitly on the contrary, otherwise implementing
The element or multiple element that example " comprising " or " having " have specified conditions may include the add ons without the condition.
Embodiment of the disclosure provide be configured in the interior room of the vehicles or region keep cleaning and health
The system and method for environment.In at least one embodiment, a kind of system and method include clean robot, the clean robot
It is configured to the interior room (washroom, kitchen etc.) on clean traffic instrument.Clean robot is configured to clean, sweeps,
Irradiation and/or one or more parts of vacuum cleaning interior room.
The system and method that some embodiments of the disclosure provide the inner space for automated cleaning aircraft.For example,
The system and method can be used to the washroom on automated cleaning aircraft.The system and method can be used to during flying inside cleaning
Space.In other embodiments, system and method can be used to clean the interior of other vehicles (train, bus etc.)
Portion space.
In at least one embodiment, autonomous cleaning systems and method include clean robot, the clean robot by with
The part for being set to the interior room of automated cleaning (for example, clean, sweep, irradiating and/or vacuum cleaning) vehicles is (all
Such as the washroom of aircraft).For example, when washroom is unoccupied, clean robot can be from the Docking station deployment in washroom.When
When washroom is occupied, clean robot can be hidden and not see (such as by being accommodated in Docking station).
In at least one embodiment, clean robot may include to be configured to send to carry out interior room (such as washroom)
The uviol lamp of the ultraviolet light of sterilization.In at least one other embodiment, clean robot may not include uviol lamp.For example, interior
Room may include independent and different uviol lamp.In at least one other embodiment, interior room may not include uviol lamp.
Embodiment of the disclosure provides and is configured to the interior room of clean traffic instrument or fixed structure (in such as building
Washroom) floor system and method.The system and method can be configured to clean and dry the floor of interior interior, so that
The risk that reduction people slips on wetland plate.Embodiment of the disclosure provides and is configured to independently clean and sterilize interior room
The system and method on surface (such as floor).
Some embodiments of the disclosure, which are provided, includes the autonomous cleaning systems of cleaning device (such as clean robot).Clearly
Clean device is configured to be accommodated in designated space, is accommodated in Docking station, closet etc..Cleaning device is configured to cleaning
Interior room, such as washroom.Cleaning device can be selectively programmable, and may be configured such that inner space is not taken by people
When use.
Some embodiments of the disclosure provide a kind of method of cleaning interior room (such as washroom), and this method includes closing
The door of interior room, determines that interior room is unoccupied, and disposes autonomous cleaning device (such as clean robot) to clean interior room.Cleaning
Device may include distributor, mechanical agitator (for example, scrubber) and/or vacuum cleaner.This method may also include will be autonomous
Cleaning device is docked in memory space.
Fig. 1 shows the perspective top view of aircraft 10 in accordance with an embodiment of the present disclosure.Aircraft 10 includes propulsion system 12,
The propulsion system may include such as two turbofans 14.Alternatively, propulsion system 12 may include more more than shown
Engine 14.Engine 14 is carried by the wing 16 of aircraft 10.In other embodiments, engine 14 can by fuselage 18 and/or
Empennage 20 is carried.Empennage 20 also can support horizontal stabilizer 22 and drag iron 24.
The fuselage 18 of aircraft 10 limits interior compartment, and the interior compartment may include driving cabin, one or more work sections
(for example, kitchen, individual carries cargo area etc.), one or more passenger's sections are (for example, first-class cabin, business class and second-class cabin
Section) and afterbody rest area assembly can be positioned in afterbody section therein.Each in section can be by cabin transition region
Separate, the cabin transition region may include one or more grade spacer assemblies.Built on stilts locker component can be positioned in entirely
In interior compartment.
Interior compartment includes various interior rooms, such as building (monument).Building may include washroom, kitchen, limit
Fixed passenger-seat station etc..Embodiment of the disclosure provide be configured to independently to clean it is one or more in interior compartment
The system and method for interior room.
Alternatively, instead of aircraft, embodiment of the disclosure can with various other vehicles (such as automobile, bus,
Locomotive engine and railway carriage, ship, spacecraft etc.) it is used together.In addition, embodiment of the disclosure can be (all on fixed structure
Such as business and residential building) use.
Fig. 2A shows the top plan view of the interior compartment 30 of aircraft in accordance with an embodiment of the present disclosure.Interior compartment 30
It can be located in the fuselage 32 of aircraft.For example, one or more fuselage walls can limit interior compartment 30.Interior compartment 30 includes multiple
Section, including front section 33, first-class cabin section 34 (for example, first-class cabin inner room, first-class cabin), business class section 36, anterior kitchen
Room section 38, extension economy class or second-class cabin section 40, criteria economy cabin or second-class cabin section 42 and afterbody section 44, its
It may include multiple washrooms and kitchen station.It should be appreciated that interior compartment 30 may include than shown more or less sections.Example
Such as, interior compartment 30 may not include first-class cabin section, and may include than shown more or less kitchen stations.In section
Each can be separated by cabin transition region 46, and the cabin transition region may include the grade spacer assemblies being located between passageway 48.
As shown in Figure 2 A, interior compartment 30 includes leading to two passageways 50 and 52 of afterbody section 44.Alternatively, it is internal
Cabin 30 can have than shown less or more passageway.For example, interior compartment 30, which may include to extend through, leads to tailer
The single passageway at the center of the interior compartment 30 of section 44.
One or more autonomous cleaning systems 100 can be in internally positioned cabin 30.For example, autonomous cleaning systems 100 can position
In in the washroom of first-class cabin section 34.Addition, or alternatively, autonomous cleaning systems 100 can be located in anterior kitchen station 38.
Addition, or alternatively, autonomous cleaning systems 100 can be located in extension economy class or second-class cabin section 40.In brief, clean
System 100 can be located in whole interior compartment 30.
In operation, each autonomous cleaning systems 100 are configured to independently clean (for example, sweeping, cleaning, using vacuum
Dust catcher is swept, sterilized) interior room that is located therein of specific autonomous cleaning systems 100.When interior room is not taken by people, it can dispose
Autonomous cleaning systems 100.
Fig. 2 B show the top plan view of the interior compartment 80 of aircraft in accordance with an embodiment of the present disclosure.Interior compartment 80
It can be located in the fuselage 81 of aircraft.For example, one or more fuselage walls can limit interior compartment 80.Interior compartment 80 includes multiple
Section, including the main cabin 82 with passenger seat 83 and the afterbody section 85 behind main cabin 82.It should be appreciated that interior
Portion cabin 80 may include than shown more or less sections.
Interior compartment 80 may include the single passageway 84 for leading to afterbody section 85.Single passageway 84, which can extend across, leads to tail
The center of the interior compartment 80 of portion's section 85.For example, single passageway 84 can be with the central longitudinal plane of interior compartment 80 coaxially
Alignment.
Autonomous cleaning systems 100 can be located at the washroom in main cabin 82 at the front section 87 of cockpit area 89
It is interior.Additional autonomous cleaning systems 100 can be located in whole main cabin 82.
Fig. 3 shows the schematic diagram of the autonomous cleaning systems 100 in interior room 102 in accordance with an embodiment of the present disclosure.Should
Understand, the item shown in Fig. 3 is not necessarily to scale.Interior room 102 can be washroom, kitchen, platform etc..Interior room 102 can position
In on the vehicles (such as aircraft 10).
Autonomous cleaning systems 100 include cleaning device, are such as configured to independently clean the cleaning of the part of interior room 102
Robot 104.For example, clean robot 104 is configured to clean the floor 106 of interior room.
Clean robot 104 can be configured to be disposed when not taken by people (passenger on such as aircraft) with cleaning
Room 102.When clean robot 104 is not when in use (such as when interior room 102 is taken by people), clean robot 104 can be stored
In memory structure (such as Docking station 106).
Clean robot 104 includes accommodating cleaning subsystem 110 and the main casing 108 of navigation subsystem 112.Alternatively,
Clean robot 104 may not include navigation subsystem 112.Cleaning subsystem 110 may include debris collector 114 (such as broom,
Vacuum cleaner etc.), fluid distributor 116, agitator 118 (scrubber etc.) and one or more ultraviolet (UV) lamps
120.Alternatively, cleaning subsystem 100 may not include debris collector 114, fluid distributor 116, agitator 118 and UV lamp
Each in 120.For example, at least one embodiment, cleaning subsystem 110 may not include UV lamp 120.UV lamp 120 can
It is individually located in interior room 102.In at least one other embodiment, interior room 102 and clean robot 104 do not include UV
Lamp.In at least one other embodiment, cleaning subsystem 100 can only include UV lamp 120.
Debris collector 114 is configured to collect the chip that can be located on floor 106.For example, debris collector 114 can be wrapped
Vacuum cleaner is included, the vacuum cleaner is configured to suck chip clearly by one or more flexible pipes, flexible pipe, pipeline etc.
In clean robot 104 and/or it is couple in the scrap collecting storage container of clean robot 104.Implement at least one other
In example, debris collector may include to be configured to chip is moved in scrap collecting storage container or scrap collecting storage area
One or more brushes, broom etc..
Fluid distributor 116 may include to be configured to fluid (cleaning fluid, water etc.) is assigned on floor 106
One or more nozzles etc..Fluid distributor 116 is couple to stream by one or more conduits 123 (pipe, pipeline etc.)
Body reservoir 122.Fluid reservoir 122 may include cleaning fluid room 124 and/or hydroecium 126.Distributor 116 passes through conduit 123
Receive the cleaning fluid (detergent, disinfectant cleaning agent etc.) from cleaning fluid room 124 and the water from hydroecium 126.
As shown, fluid reservoir 122 can be included in clean robot 104.Alternatively, clean robot 104 can
Do not include fluid reservoir 122.On the contrary, clean robot 104 can be by one or more fluid conduit systems with being located in interior room 102
Portion or outside separation and different fluid reservoirs 122 connect.For example, clean robot 104 can be by one or more soft
Property flexible pipe and/or cable be tethered to one or more water sources, source of clean fluid and/or waste and remove source.
In at least one embodiment, clean robot 104 and/or Docking station 106 may include one or more interfaces, should
Interface is configured to be couple to washroom water supply and waste treatment system when clean robot 104 is docked in Docking station 106.
So as to when being docked in Docking station 106 and be couple to one or more long-range water sources and/or source of clean fluid via interface
When, clean robot 104 can be supplemented with water and/or cleaning fluid.In addition, clean robot 104 may include waste storage device
(such as groove), the waste storage device can be in quilt in being docked at Docking station 106 and when being couple to waste treatment system via interface
Empty.In at least one embodiment, in interior room 102 be couple on the pipe-line equipment of interior room 102 or interior valve (such as
Servo-drive valve) it is actuatable, to allow to add water to reservoir of water 126, and waste fluid is removed.In addition, waste fluid can
By in interior room 102 or being connected to the ash water system of interior room 102 and discharging.A part (such as rotatable brush) for agitator 118 can
Remove, so as to remove can be located at agitator 118 in or on solid debris.
In at least one embodiment, cleaning fluid reservoir 122 can be configured to receive and removedly keep cleaning
Fluid box, the cleaning fluid box can be removed and abandon after usage.For example, box can be changed during flying.At least one
In individual other embodiment, cleaning fluid reservoir 122 is configured to directly be supplemented with cleaning fluid, instead of including cleaning fluid
Box.
Fluid distributor 116 is configured to deposit to fluid (such as cleaning fluid and/or water) on floor 106.Agitation
Device 118 is configured to agitation cleaning fluid and/or water to sterilize floor 106.Agitator 118 may include for example to clean
Device.
UV lamp 120 is configured to UV light irradiations or is otherwise transmitted on floor 106, to disappear to floor
Poison, sterilization, cleaning or otherwise from floor remove germ, bacterium, microorganism etc..As described above, UV lamp 120 can be another
Selection of land is not positioned on clean robot 104.
Navigation subsystem 112 is configured to determine position of the clean robot 104 in interior room 102, and allows cleaning
Robot 104 is moved through.Navigation subsystem 112 may include one or more position sensors 128, such as infrared sensor,
Sonac etc., the position sensor is configured to signal (optical signal, ultrasonic signal etc.) being transmitted into interior room 102
In architectural feature, and the signal based on transmitting receives feedback, to determine clean robot 104 relative to each in interior room 102
Plant the position of architectural feature.Alternatively, navigation subsystem 112 can be configured to the rotation of analysis wheel and direction, including determination
Position in room 102.In at least one other embodiment, face or the line of induction being embedded in floor can be used to provide under floor
Direction and control information.Alternatively, clean robot 104 may not include navigation subsystem.
One or more conveying devices 130 can extend downwardly from housing 108 and contact floor 106.Conveying device 130 is defeated
A part for subsystem 131 is sent, the transport subsystem may include to be configured to via conveying device 130 the mobile cleaning on floor
Motor, brake, wheel, track, guide rail of robot 104 etc..Conveying device 130 may include wheel, roller, removable supporting leg,
Track etc..Conveying device 130 is configured to permit clean robot 104 and moved in interior room 102 on floor 106 or with it
He moves mode relative to floor 106.
Housing 108 can also accommodate one or more battery 132, and the battery is configured to provide electric power to operate cleaning machine
People 104.Alternatively, instead of battery 132, clean robot 104 such as can be connected to positioned at interior room by one or more cables
Power supply inside or outside 102.
Clean robot 104 may also include communicator 134, transceiver, antenna etc..Communicator 134 with it is long-range
System communicates, and the remote system can be configured to trigger, dispose or otherwise start clean robot 104.For example, communication
Device 134 can communicate with the presence sensor 136 in interior room 102, and this has sensor assignor whether in interior room 102.Deposit
Can be or including being configured to detect whether one or more magnetic switches in interior room 102, motion are passed people in sensor 136
Sensor (infrared motion sensor), heat sensor etc..For example, there is sensor 136 can be coupled to the door of interior room 102
Magnetic switch.In at least one other embodiment, clean robot 104 may not include single and different communicator,
But can by one or more wired or wireless connections and remote system (such as there is sensor 136, it is control panel, hand-held
Device etc.) communication.
Clean robot 104 includes being configured to control the robot control unit 140 of the operation of clean robot 104.
For example, control unit 140 communicates with cleaning subsystem 110, navigation subsystem 112 and transport subsystem 131, so as in interior room
Mobile clean robot 104 in 102, to clean the other parts (for example, wall) on floor 106 and/or interior room 102.Alternatively, control
Unit 140 processed can be positioned away from clean robot 104, and can be led to by one or more wired or wireless connections with its part
Letter.
As described above, clean robot 104 is configured to be disposed when interior room 102 is unoccupied.Control unit 140 is led to
Cross from the signal that there is the reception of sensor 136 and determine that interior room 102 is occupied or unoccupied.When interior room 102 is occupied, cleaning
Robot 104 can be stored in Docking station 106.For example, after clean operation is completed, for example, control unit 140 can pass through door
144 and/or opening clean robot 104 is moved in the region 142 in Docking station 106.It is positioned in clean robot 104
After in region 142, door 144 is closed.For example, door 144 can be fixed to Docking station 106 by hinge (not shown in figure 1), should
Hinge allows clean robot 104 to open door by being moved in door 144, and no longer contacts door in clean robot 104
After 144, door is automatically turned off by hinge.
Door 144 can be fixed on closed position by breech lock (not shown in Fig. 3).Breech lock can be RFID breech locks, should
RFID breech locks are configured in response to such as RFID key or chip and are opened.
In at least one embodiment, door 144 may be configured such that the RFID chip of compatibility is close and be opened at that time.
For example, clean robot 104 may include RFID chip, opened when clean robot 144 such as sends door by control unit 140
During signal, the RFID chip allows to open door 144.
Region 142 in Docking station 106 may include charger 146, when clean robot 104 is located in Docking station 106,
The charger is couple to the port of clean robot 104.Charger 146 is by allowing charger 146 to charge battery 132
One or more wired connections be couple to battery 132.
In operation, there is the presence of the people in the detection interior room 102 of sensor 136.If people is in interior room 102, clearly
Clean robot 104 is incorporated in Docking station 106, and can be hidden and not seen in region 142.Interior room is left in people
When 102, control unit 140 is based on unoccupied from the signal detection interior room 102 that there is the reception of sensor 136.At at least one
In other embodiment, instead of there is sensor, control unit 140 can communicate with the control panel inside or outside interior room.
Control panel may include that the cleaning being configured to by people (such as crew) using (engage) to start clean robot 104 is all
The starting component (button, key etc.) of phase.
When interior room 102 is unoccupied, control unit 140 can start the cleaning cycle of clean robot 104.In cleaning week
During phase, control unit 140 communicates with navigation subsystem 112 and transport subsystem 131, to manipulate cleaner in interior room 102
Device people 104.Control unit 140 operates cleaning subsystem 110 during cleaning cycle, to clean the region in interior room 102.Example
Such as, the operable cleaning subsystem 110 of control unit 140, to clean (for example, sweeping, vacuum cleaning, cleaning, disappear
Poison, sterilization etc.) floor 106.The operable debris collector 114 of control unit 140 with from floor 106 remove chip.Control unit
140 operable distributors 116, fluid (cleaning agent, water etc.) is deposited on floor 106.For example, control unit 140
Operable agitator 118 is with the fluid on agitation (for example, scouring) floor.Then, the operable debris collector of control unit 140
114, to collect unnecessary fluid from floor 106.In at least one other embodiment, control unit 140 can be with being configured to
Drier (the fan, air blower etc.) communication of drying floor 106.The also operable UV lamp 120 of control unit 140 is to use UV light
Floor is irradiated, so as to remove germ, bacterium, microorganism etc. from floor 106.
After cleaning cycle is completed, clean robot 104 returns to Docking station 106.If in addition, people is in cleaning cycle
Period enters interior room 102, then clean robot 104 can suspend cleaning cycle and return to Docking station, until people leaves interior room
102.In at least one other embodiment, clean robot 104 is operable with the cleaning interior room 102 when people is in interior room 102.
As described above, control unit 140 controls the operation of clean robot 104, to clean interior room during cleaning cycle
102.As used herein, term " control unit ", " unit ", " CPU ", " CPU ", " computer " etc. can
Including any system based on processor or based on microprocessor, it is including the use of microcontroller, Reduced Instruction Set Computer
(RISC), application specific integrated circuit (ASIC), the system of logic circuit and including being able to carry out the hard of function described herein
Any other circuit or processor of part, software or its combination.These are only exemplary, therefore are not intended in any way
Limit definition and/or the implication of these terms.For example, control unit 140 can be or including being configured to control autonomous cleaning
The one or more processors of the operation of system 100.
Control unit 140 is configured to execution and is stored in one or more memory elements (such as one or more memories)
In instruction, so as to processing data.For example, control unit 140 may include or be couple to one or more memories.Memory element
As requested or data storage or other information can also be needed.Memory element can be information source or physical store in processor
The form of device element.
One group of instruction can include various orders, and it indicates that control unit 140 performs specific operation as processor, all
The method and process of the various embodiments of theme as described in this article.Group instruction can be the form of software program.Software
Can be various forms, such as system software or application software.In addition, software can be the gathering of single program, larger program
Interior program subset or the form of a part for program.Software may also include the modularization programming of OOP form.Place
Processing of the reason machine to input data may be in response to user command or in response to previously processed result or in response to by another
The request that processor is made.
The diagram of embodiment herein can show one or more controls or processing unit, such as control unit 140.Should
Work as understanding, processing or control unit can represent that the hardware with the dependent instruction for performing operation described herein can be implemented as
Circuit, (for example, being stored in tangible and non-transitory computer-readable storage media, (such as computer is hard for circuit or part thereof
Disk drive, ROM, RAM etc.) on software).It is electromechanical to perform the state of function described herein that hardware may include hardwired
Road.Alternatively, hardware may include electronic circuit, and it includes and/or be connected to the device of one or more logic-baseds, such as micro-
Processor, processor, controller etc..Alternatively, control unit 140 can represent process circuit, such as field programmable gate array
(FPGA), one or more of application specific integrated circuit (ASIC), microprocessor etc..Circuit in various embodiments can be configured
Into one or more algorithms are performed, to perform function described herein.One or more algorithms may include disclosed herein
Embodiment aspect, regardless of whether being specifically identified in flow chart or method.
As used herein, term " software " and " firmware " are interchangeable, and including storage in memory
With any computer program performed by computer, the memory include RAM memory, ROM memory, eprom memory,
Eeprom memory and non-volatile ram (NVRAM) memory.Above-mentioned type of memory is only exemplary, and therefore not
It is limited to the type that can be used for the memory of storage computer program.
As described above, autonomous cleaning systems 100 may be housed in interior room 102 (the washing washroom of such as aircraft).It is autonomous clear
Clean system 100 includes clean robot 140, and the clean robot is configured to be disposed when interior room 102 is unoccupied.Control
Unit 140 operates clean robot 104 to be moved during cleaning cycle in whole interior room 102 and clean surface therein
(such as floor 106), and return to Docking station 106 when completing cleaning cycle and/or when people enters interior room 102.
In at least one embodiment, clean robot 104 is disposed, to clean interior room after leaving interior room 102 in people
102 (such as by control unit 140).In at least one embodiment, clean robot 104 is disposed with based on can such as deposit
The predetermined planning chart in the memory of control unit 140 is stored up to clean interior room 102.In at least one other embodiment,
Clean robot 104 can be disposed, to be come clearly based on the order received from the order communicated with control unit 140/control panel
Clean interior room 102.Order/control panel includes one or more activating elements (button, key, touch-screen etc.), and it can be right
Go to the station to meet somebody on 106, in interior room 102, and/or outside interior room 102 (such as in service on buses or trains station).
For example, control unit 140 can be sent out by communicator 134 to remote-control device (hand-held device, computer etc.)
Send status signal.Status signal can to people (such as crew) provide on clean robot state (for example, in use,
Be stored in Docking station, diagnostic message etc.) information.
Fig. 4 shows that the perspective inside of the autonomous cleaning systems 100 in interior room 102 in accordance with an embodiment of the present disclosure is regarded
Figure.As shown, interior room 102 can be the washroom with closestool 200 and tank (not shown).Washroom can be washroom
Module 202, it has the floor 106 for being connected to the upstanding wall 202 and ceiling 204 that limit interior room 102.For example, washroom mould
Block 202 is configured to be fixed in the interior compartment of aircraft.As described above, clean robot 104 be configured to floor 106 it
On be directed.By this way, the cleanable floor 106 of clean robot 104.
As shown, Docking station 106 may include cavity 160, and clean robot 104 is docked to the cavity when not in use
In.In the embodiment illustrated in figure 4, Docking station 106 may not include independent and different door.But, clean robot 104
The rear wall 162 of housing 108 can provide for the covering of cavity 160, and clean robot 104 is hidden in it by it when not disposing
In.
Fig. 5 shows that the perspective inside of the autonomous cleaning systems 100 in interior room 102 in accordance with an embodiment of the present disclosure is regarded
Figure.In this embodiment, clean robot 104 can be movably fixed to provide the parallel orbit 180 of conveying device 130
(guide rail, beam etc.).Clean robot 104 can outwards be disposed from Docking station 106, and be translated along track 180.This
During motion, the cleaning of clean robot 104 floor 106.
Track 180 can be embedded in or be otherwise fixedly secured to wall 202 and/or floor 106.Embedded track 180 is reduced
The profile of track 180, and therefore reduce its aesthetic effect.
Clean robot 104 can by rack-and-pinion, driving screw, Timing Belt, one or more pulleys, one or
One or more of multiple cables etc. are driven.Water supply installation, vacuum hose etc. can be enclosed in track 180 or and rail
Road 180 is separated and in different siding tracks.In at least one embodiment, clean robot 104 can when not in use may be used
It is accommodated in the bar in Docking station 106.
Instead of parallel orbit 180, autonomous cleaning systems 100 can alternatively include movably keeping clean robot 104
Single track.Clean robot 104 may be connected to cantilever translation bracket, and the cantilever translation bracket can by clean robot 104
Movably it is couple to track.In at least one other embodiment, autonomous cleaning systems 100 may not include any track.But,
Clean robot 104 can be pivotally displaced relative to fixed pivotal point.Pivotal point can be oriented so that the shape for channel washer
The clean robot 104 of formula covers floor space as much as possible during cleaning cycle.
Figure 11 shows that the perspective inside of the autonomous cleaning systems 100 in interior room 102 in accordance with an embodiment of the present disclosure is regarded
Figure.In this embodiment, clean robot 104 can be relative to the fixed (pivot such as in interior room 102 of pivotal point 105
Or hinge axis) be pivotally displaced.Clean robot 104 for the form of channel washer 107 is covered as far as possible during cleaning cycle
Many floor spaces.After usage, axis of the channel washer 107 in interior room 102 around pivotal point 105 is in the direction of arc 111
On be pivoted to the position of the lower section of structure 109.Structure 109 (tank, cabinet etc.) may include recessed region 113, when without using
When, clean robot 104 is incorporated in the recessed region.
Figure 12 shows showing for the autonomous cleaning systems 100 for being couple to vacuum system 1002 in accordance with an embodiment of the present disclosure
It is intended to.Autonomous cleaning systems 100 and vacuum system 1002 can be located on the vehicles (such as aircraft).Autonomous cleaning systems 100
Debris collector 114 be or otherwise include being couple to the vacuum cleaner of vacuum system 1002.Vacuum system 1002
It is operably coupled to one or more closestools 1004.Vacuum system 1002 can be fixed in a part for the vehicles, such as
It is fixed in the fuselage of aircraft.
Debris collector 114 may be fluidly connected to one or more fluid delivery catheters 1006, the fluid delivery catheter
It is connected to closestool 1004 and vacuum system 1002.For example, the vacuum ports of debris collector 114 are fluidly coupled to conduit
1006.Therefore, when vacuum system 1002 is started (that is, when vacuum system 1002 passes through the generation vacuum of conduit 1006 or suction
Power) when, the vacuum or suction force produced in succession by liquid be drawn into debris collector 114 and/or debris collector 114 in or
In chip storage container therein, into conduit 1006, and enter in waste tank 1008.
When neighbouring or when being otherwise rinsed close to the closestools 1004 of autonomous cleaning systems 100, vacuum system can be started
System 1002.In at least one other embodiment, when the washroom that closestool 1004 is located therein is unoccupied, vacuum can be started
System 1002.
Fig. 6 shows the flow chart of the method for cleaning interior room in accordance with an embodiment of the present disclosure.With reference to Fig. 3 and Fig. 6, the party
Method starts from 300, wherein monitoring interior room (washroom on such as aircraft).For example, control unit 140 can be by from the presence of sensing
The signal that device 136 is received monitors interior room 102.302, control unit from the signal that there is the reception of sensor 136 based on determining
Whether interior room is occupied.If determining that interior room is occupied 302, method proceeds to 304, and wherein control unit, which is prevented, starts clear
The clean cycle.But, if determining that interior room 102 is unoccupied 302, method proceeds to 306, and wherein control unit 140 is determined
Whether interior room is cleaning.
Based on predetermined planning chart, from the time of cleaning for the last time, interior room last occupied time (for example, being based on
Open and/or close the door of interior room) etc., control unit 140 can determine that whether interior room 102 is cleaning.If control unit 140
It is cleaning (or at least above minimum cleannes threshold value, such as) to determine interior room, then method returns to 300.
But, if control unit 140 determines that interior room 102 needs cleaning, method proceeds to 308 from 306, wherein disposing
Clean robot 104.310, control unit 140 cleans interior room with clean robot 104.312, control unit 140 is determined
Whether cleaning cycle completes.For example, cleaning of whole predetermined surface region to be cleaned (such as in clean robot 104
Floor) after, control unit 140 can determine that cleaning cycle is completed.If cleaning cycle is not completed, method returns to 310.But
It is that, if control unit 140 determines that cleaning cycle is completed, method proceeds to 314 from 312, and wherein control unit 140 makes cleaning
Robot returns to Docking station 106.Then, method returns to 300.
Fig. 7 shows the perspective top interior perspective view of washroom 400 in accordance with an embodiment of the present disclosure.Washroom 400
It is configured to be fixed in the vehicles (such as aircraft).Washroom 400 includes closestool 402, tank 404 and one or more
Uviol lamp 406, the uviol lamp is configured to arrive ultraviolet light emission during UV cleaning cycles when washroom 400 is unoccupied
In washroom 400.UV cleaning cycles can simultaneously or in the different time occur from above-mentioned cleaning cycle.Washroom 400 can also be wrapped
Include the autonomous cleaning systems of such as those described above.
Fig. 8 shows far-ultraviolet spectrum 500.Embodiment of the disclosure can launch the light in far-ultraviolet spectrum 500, example
Such as, to clean the interior section of washroom.Specifically, embodiment of the disclosure can launch positioned at the sterilization UVC parts of spectrum 500
Light in 502.It has been found that by launching the UV light being located in far-ultraviolet spectrum 500, the ultraviolet light of embodiment of the disclosure is carried
Very rapidly and effectively cleaning cycle (for example, continue 2-3 seconds) is supplied.Embodiment of the disclosure is provided and is configured to several
The ultraviolet cleaning system and method sterilized in second to the surface in washroom.
Fig. 9 shows the schematic interior view of washroom 600 in accordance with an embodiment of the present disclosure.Washroom 600 can be wrapped
Integrated remote UV disinfection systems 602 are included, it may include one or more UV lamps, and the UV lamp is configured to (all during cleaning cycle
Such as when washroom is unoccupied) emit light into washroom 600.Washroom 600 may also include oneself of such as those described above
Main cleaning systems.
Positioning indicator 604 can be also positioned on the door of washroom 600 or framework.Positioning indicator 604 is configured to
Status information on cleaning cycle (such as cleaning cycles of UV cleaning cycles, and/or autonomous cleaning systems) is provided.Washroom
Various surfaces in 600 can be coated with anti-biotic material, titanium dioxide etc. or otherwise be handled.Autonomous cleaning systems are (such as
Any one in those described above) it can be used and be configured to clean and/or be dried the floor of washroom 600.
Figure 10 shows the front view of the positioning indicator 604 during cleaning cycle in accordance with an embodiment of the present disclosure.
Positioning indicator 604 includes clean conditions lamp 606 (such as one or more light emitting diodes) and (such as one, lamp 608 of locking
Or multiple light emitting diodes).During UV cleaning cycles, clean conditions lamp 606 can change with indicate cleaning spectrum (for example, from
It is unclean to arrive cleaning).During cleaning cycle, the door of washroom can be locked, and this is indicated by locking lamp 608.In cleaning cycle
Afterwards, locking lamp 608 indicates that door is unlocked.As shown in Figure 10, UV cleans process sustainable only several seconds.Alternatively, clean
Process is than shorter or longer shown in Figure 10.
In addition, the disclosure includes the embodiment according to following clause：
A kind of vehicles of clause 1., including：
Interior compartment；And
Autonomous cleaning systems, positioned at the interior interior of the interior compartment, wherein, the autonomous cleaning systems include being configured
Into the clean robot for the part for cleaning the interior room.
The vehicles of the clause 2. according to clause 1, wherein, the autonomous cleaning systems also include being located at the interior room
Interior Docking station, wherein, the clean robot is configured to be contained in the Docking station, and wherein, the cleaner
Device people is configured to dispose from the Docking station during cleaning cycle.
The vehicles of the clause 3. according to clause 2, wherein, the Docking station includes charger, the charger quilt
It is configured to charge to the battery of the clean robot when the clean robot is contained in the Docking station.
The vehicles of the clause 4. according to clause 1,2 or 3, wherein, the interior room includes washroom.
The vehicles of the clause 5. according to any one of clause 1-4, in addition to there is sensor, the sensor by with
Be set to the presence for detecting the interior indoor people, wherein, when the interior room is unoccupied, the clean robot disposed with
Clean the part of the interior room.
The vehicles of the clause 6. according to any one of clause 1-5, wherein, the clean robot is received including chip
Storage, the debris collector is configured to collect chip from the interior room during cleaning cycle.
The vehicles of the clause 7. according to any one of clause 1-6, wherein, the clean robot includes agitation
Device, the agitator is configured to stir the part of the interior room during cleaning cycle.
The vehicles of the clause 8. according to any one of clause 1-7, wherein, the clean robot includes and fluid
The distributor of reservoir fluid connection, wherein, the distributor is configured to distribute a fluid to during cleaning cycle in described
On the part of room.
The vehicles of the clause 9. according to clause 8, wherein, the clean robot includes the fluid reservoir.
The vehicles of the clause 10. according to any one of clause 1-9, wherein, stating clean robot includes uviol lamp,
The uviol lamp is configured to use the part of interior room described in ultraviolet light during cleaning cycle.
The vehicles of the clause 11. according to any one of clause 1-10, wherein, the clean robot includes conveying
Subsystem and navigation subsystem, wherein, the transport subsystem is configured to based on the signal received from the navigation subsystem
In clean robot described in the interior indoor moving.
A kind of method of the interior room of the interior compartment of clean traffic instrument of clause 12., methods described includes：
Autonomous cleaning systems are positioned to the interior interior of the interior compartment；
Clean robot is deployed in the interior interior during cleaning cycle；And
A part for the interior room is cleaned with the clean robot during the cleaning cycle.
Method of the clause 13. according to clause 12, before being additionally included in the cleaning cycle and the cleaning cycle it
The clean robot is contained in Docking station afterwards.
Method of the clause 14. according to clause 13, is additionally included in the electricity to the clean robot in the Docking station
Charged in pond.
Method of the clause 15. according to clause 12,13 or 14, wherein, the interior room includes washroom.
Method of the clause 16. according to any one of clause 12-15, in addition to detect depositing for the interior indoor people
, and wherein, deployment and clean operation occur when the interior room is unoccupied.
Method of the clause 17. according to any one of clause 12-16, wherein, the cleaning is included in the cleaning cycle phase
Between from the interior room collect chip.
Method of the clause 18. according to any one of clause 12-17, wherein, the cleaning is included in the cleaning cycle phase
Between stir the part of the interior room.
Method of the clause 19. according to any one of clause 12-18, wherein the cleaning includes：
Distributed a fluid to during cleaning cycle on the part of interior room；
The part of interior room described in ultraviolet light is used during the cleaning cycle；And
Based on the signal received from navigation subsystem in clean robot described in the interior indoor moving.
A kind of vehicles of clause 20., including：
Interior compartment；And
Autonomous cleaning systems, in the washroom of the interior compartment, wherein, the autonomous cleaning systems include：
Clean robot, the clean robot is configured to clean the floor of the washroom, wherein, the cleaning machine
People includes：(a) transport subsystem communicated with navigation subsystem, wherein the transport subsystem is configured to be based on leading from described
The signal that the subsystem that navigates is received is configured to clear in clean robot described in the washing indoor moving, (b) debris collector
Chip is collected from the washroom during the clean cycle, (c) agitator is configured to stir the washroom during cleaning cycle
A part, (d) distributor, with fluid reservoir be in fluid communication, wherein, the distributor is configured to during cleaning cycle
Distribute a fluid on the part of the washroom；And (e) uviol lamp, it is configured to during cleaning cycle with ultraviolet
The part of washroom described in light irradiation；
Docking station, in the washroom, wherein, the clean robot is configured to be contained in the Docking station
It is interior, and wherein, the clean robot is configured to dispose from the Docking station during cleaning cycle, wherein, it is described right
Go to the station to meet somebody including charger, the charger is configured to when the clean robot is contained in the Docking station to described clear
The battery of clean robot is charged；And
There is sensor, be configured to detect the presence of the people in the washroom, wherein, the clean robot is by portion
Administration, to clean the floor of the washroom when the washroom is unoccupied.
It is used for as described above, embodiment of the disclosure is provided in effectively and efficiently cleaning in (such as washroom)
The system and method on surface.Embodiment of the disclosure alternatively can be used together with various other interior rooms, regardless of whether handing over
On logical instrument.For example, embodiment of the disclosure can be used to clean kitchen region, door entrance area etc..
Embodiment of the disclosure provides the system and method for being configured to clean inner space (such as those of aircraft).
Embodiment of the disclosure provides system and the side for the washroom effectively and efficiently cleaned such as during flying on aircraft
Method.
Although can be used top, bottom, bottom, middle part, sidepiece, level, vertically, the various spaces such as front portion and
Direction term describes embodiment of the disclosure, but it is to be understood that these terms make only in relation to the orientation shown in figure
With.Orientation can be reversed, rotates or otherwise change so that upper part is low portion, and on low portion is
Portion part, being changed into for level is vertical, etc..
As used herein, " being configured to " performs structure, limitation or the element of task or operation with corresponding to appointing
The mode of business or operation is especially formed in structure, configures or is adapted to., only can be by order to clear and avoid the purpose felt uncertain
" being configured as " does not perform task as used herein or operation to the object for changing to perform task or operation.
It should be appreciated that foregoing description be intended to it is illustrative and not restrictive.For example, above-described embodiment (and/or
Its aspect) can be in combination with one another.In addition, in the case of without departing substantially from the scope of the present disclosure, many change so that special can be carried out
Condition of pledging love or material adapt to the teaching of the various embodiments of the disclosure.Although the size and type of material described herein are intended to
The parameter of the various embodiments of the disclosure is limited, but embodiment is no restricted, but exemplary embodiment.Looking back
After foregoing description, many other embodiments will be apparent to those skilled in the art.Therefore, the disclosure
The scope of various embodiments should refer to the four corner for the equivalent that appended claims and these claims are authorized
To determine.In the following claims, term " comprising " and " wherein " are used as the common English of corresponding term "comprising" and " wherein "
Language equivalent.In addition, term " first ", " second " and " the 3rd " etc. is used only as mark, and it is not intended to force number to its object
Word requirement.In addition, the limitation of following claims not adds what function form was write with device, and it is not intended to be based on the U.S.
Code the 35th 112 (f) saves to explain, unless and until there is no other structure behind this claim limitation clearly use
Function statement phrase " device being used for ... ".
This written description openly includes the various embodiments of the disclosure of optimal mode using example, and also makes ability
Field technique personnel can put into practice the various embodiments of the disclosure, and it includes manufacturing and using any device or system and execution
Any combined method.The scope of the claims that obtains of the various embodiments of the disclosure is defined by the claims, and may include
Other examples that those skilled in the art expect.If example has does not have different structural elements from the literal language of claim
Part, or if example includes equivalent structural elements of the literal language without essence difference with claim, then it is such other
Example is intended to fall in the range of claim.
Claims (11)
1. a kind of vehicles, including：
Interior compartment (30,80)；And
Autonomous cleaning systems (100), in the interior room (102) of the interior compartment (30,80), wherein, the autonomous cleaning
System (100) includes being configured to clean the clean robot (102,104,144) of a part for the interior room (102).
2. the vehicles according to claim 1, wherein, the autonomous cleaning systems (100) also include being located in described
Docking station (106) in room (102), wherein, the clean robot (102,104,144) is configured to be contained in the docking
Stand in (106), and wherein, the clean robot (102,104,144) is configured to during cleaning cycle from described right
Go to the station to meet somebody (106) deployment.
3. the vehicles according to claim 2, wherein, the Docking station (106) includes charger (146), described to fill
Electrical equipment be configured to when the clean robot (102,104,144) be contained in the Docking station (106) it is interior when to the cleaning
The battery (132) of robot (102,104,144) is charged.
4. the vehicles according to claim 1,2 or 3, wherein, the interior room (102) includes washroom (400,600).
5. the vehicles according to claim 1,2 or 3, in addition to there is sensor, described have sensor and be configured
Into the presence for detecting the people in the interior room (102), wherein, when the interior room (102) is unoccupied, the clean robot
(102,104,144) are by disposing to clean the part of the interior room (102).
6. the vehicles according to claim 1,2 or 3, wherein, the clean robot (102,104,144) includes broken
Consider collector to be worth doing, the debris collector is configured to collect chip from the interior room (102) during cleaning cycle.
7. the vehicles according to claim 1,2 or 3, wherein, the clean robot (102,104,144) includes stirring
Dynamic device, the agitator is configured to stir the part of the interior room (102) during cleaning cycle.
8. the vehicles according to claim 1,2 or 3, wherein, the clean robot (102,104,144) include with
The distributor that fluid reservoir is in fluid communication, wherein, the distributor is configured to distribute a fluid to during cleaning cycle
On the part of the interior room (102).
9. the vehicles according to claim 8, wherein, the clean robot (102,104,144) includes the stream
Body reservoir.
10. the vehicles according to claim 1,2 or 3, wherein, the clean robot (102,104,144) includes
Uviol lamp, the uviol lamp is configured to use the part of interior room (102) described in ultraviolet light during cleaning cycle.
11. the vehicles according to claim 1,2 or 3, wherein, the clean robot (102,104,144) includes
Transport subsystem and navigation subsystem, wherein, the transport subsystem is configured to based on receiving from the navigation subsystem
Signal mobile clean robot (102,104,144) in the interior room (102).
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| US62/315,994 | 2016-03-31 | ||
| US15/175,239 US10793291B2 (en) | 2016-03-31 | 2016-06-07 | Systems and methods for cleaning interior portions of a vehicle |
| US15/175,239 | 2016-06-07 |
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| CN107264808A true CN107264808A (en) | 2017-10-20 |
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| JP (1) | JP6945306B2 (en) |
| CN (1) | CN107264808A (en) |
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| CN111239844B (en) * | 2018-11-28 | 2024-04-02 | 波音公司 | Occupancy detection system and occupancy detection method for a washroom |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017206231A (en) | 2017-11-24 |
| US20170283092A1 (en) | 2017-10-05 |
| CA2960250A1 (en) | 2017-09-30 |
| CA2960250C (en) | 2021-11-09 |
| JP6945306B2 (en) | 2021-10-06 |
| US10793291B2 (en) | 2020-10-06 |
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